text: /*
   * This file is part of the OpenMV project.
   *
   * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
   * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
   *
   * This work is licensed under the MIT license, see the file LICENSE for details.
   *
   * OV5640 driver.
   */
  #include "omv_boardconfig.h"
  #if (OMV_ENABLE_OV5640 == 1)
  
  #include <stdint.h>
  #include <stdlib.h>
  #include <string.h>
  
  #include "cambus.h"
  #include "sensor.h"
  #include "ov5640.h"
  #include "ov5640_regs.h"
  #include "py/mphal.h"
  
  #define BLANK_LINES             8
  #define DUMMY_LINES             6
  
  #define BLANK_COLUMNS           0
  #define DUMMY_COLUMNS           16
  
  #define SENSOR_WIDTH            2624
  #define SENSOR_HEIGHT           1964
  
  #define ACTIVE_SENSOR_WIDTH     (SENSOR_WIDTH - BLANK_COLUMNS - (2 * DUMMY_COLUMNS))
  #define ACTIVE_SENSOR_HEIGHT    (SENSOR_HEIGHT - BLANK_LINES - (2 * DUMMY_LINES))
  
  #define DUMMY_WIDTH_BUFFER      16
  #define DUMMY_HEIGHT_BUFFER     8
  
  #define HSYNC_TIME              252
  #define VYSNC_TIME              24
  
  static int16_t readout_x = 0;
  static int16_t readout_y = 0;
  
  static uint16_t readout_w = ACTIVE_SENSOR_WIDTH;
  static uint16_t readout_h = ACTIVE_SENSOR_HEIGHT;
  
  static uint16_t hts_target = 0;
  
  static const uint8_t default_regs[][3] = {
  
  // https://github.com/ArduCAM/Arduino/blob/master/ArduCAM/ov5640_regs.h
  
      { 0x47, 0x40, 0x20 },
      { 0x40, 0x50, 0x6e },
      { 0x40, 0x51, 0x8f },
      { 0x30, 0x08, 0x42 },
      { 0x31, 0x03, 0x03 },
      { 0x30, 0x17, 0xff }, // { 0x30, 0x17, 0x7f },
      { 0x30, 0x18, 0xff },
      { 0x30, 0x2c, 0x02 },
      { 0x31, 0x08, 0x01 },
      { 0x36, 0x30, 0x2e },
      { 0x36, 0x32, 0xe2 },
      { 0x36, 0x33, 0x23 },
      { 0x36, 0x21, 0xe0 },
      { 0x37, 0x04, 0xa0 },
      { 0x37, 0x03, 0x5a },
      { 0x37, 0x15, 0x78 },
      { 0x37, 0x17, 0x01 },
      { 0x37, 0x0b, 0x60 },
      { 0x37, 0x05, 0x1a },
      { 0x39, 0x05, 0x02 },
      { 0x39, 0x06, 0x10 },
      { 0x39, 0x01, 0x0a },
      { 0x37, 0x31, 0x12 },
      { 0x36, 0x00, 0x08 },
      { 0x36, 0x01, 0x33 },
      { 0x30, 0x2d, 0x60 },
      { 0x36, 0x20, 0x52 },
      { 0x37, 0x1b, 0x20 },
      { 0x47, 0x1c, 0x50 },
      { 0x3a, 0x18, 0x00 },
      { 0x3a, 0x19, 0xf8 },
      { 0x36, 0x35, 0x1c },
      { 0x36, 0x34, 0x40 },
      { 0x36, 0x22, 0x01 },
      { 0x3c, 0x04, 0x28 },
      { 0x3c, 0x05, 0x98 },
      { 0x3c, 0x06, 0x00 },
      { 0x3c, 0x07, 0x08 },
      { 0x3c, 0x08, 0x00 },
      { 0x3c, 0x09, 0x1c },
      { 0x3c, 0x0a, 0x9c },
      { 0x3c, 0x0b, 0x40 },
      { 0x38, 0x20, 0x47 }, // { 0x38, 0x20, 0x41 },
      { 0x38, 0x21, 0x01 },
      { 0x38, 0x00, 0x00 },
      { 0x38, 0x01, 0x00 },
      { 0x38, 0x02, 0x00 },
      { 0x38, 0x03, 0x04 },
      { 0x38, 0x04, 0x0a },
      { 0x38, 0x05, 0x3f },
      { 0x38, 0x06, 0x07 },
      { 0x38, 0x07, 0x9b },
      { 0x38, 0x08, 0x05 },
      { 0x38, 0x09, 0x00 },
      { 0x38, 0x0a, 0x03 },
      { 0x38, 0x0b, 0xc0 },
      { 0x38, 0x10, 0x00 },
      { 0x38, 0x11, 0x10 },
      { 0x38, 0x12, 0x00 },
      { 0x38, 0x13, 0x06 },
      { 0x38, 0x14, 0x31 },
      { 0x38, 0x15, 0x31 },
      { 0x30, 0x34, 0x1a },
      { 0x30, 0x35, 0x11 }, // { 0x30, 0x35, 0x21 },
      { 0x30, 0x36, 0x64 }, // { 0x30, 0x36, 0x46 },
      { 0x30, 0x37, 0x13 },
      { 0x30, 0x38, 0x00 },
      { 0x30, 0x39, 0x00 },
      { 0x38, 0x0c, 0x07 },
      { 0x38, 0x0d, 0x68 },
      { 0x38, 0x0e, 0x03 },
      { 0x38, 0x0f, 0xd8 },
      { 0x3c, 0x01, 0xb4 },
      { 0x3c, 0x00, 0x04 },
      { 0x3a, 0x08, 0x00 },
      { 0x3a, 0x09, 0x93 },
      { 0x3a, 0x0e, 0x06 },
      { 0x3a, 0x0a, 0x00 },
      { 0x3a, 0x0b, 0x7b },
      { 0x3a, 0x0d, 0x08 },
      { 0x3a, 0x00, 0x38 }, // { 0x3a, 0x00, 0x3c },
      { 0x3a, 0x02, 0x05 },
      { 0x3a, 0x03, 0xc4 },
      { 0x3a, 0x14, 0x05 },
      { 0x3a, 0x15, 0xc4 },
      { 0x36, 0x18, 0x00 },
      { 0x36, 0x12, 0x29 },
      { 0x37, 0x08, 0x64 },
      { 0x37, 0x09, 0x52 },
      { 0x37, 0x0c, 0x03 },
      { 0x40, 0x01, 0x02 },
      { 0x40, 0x04, 0x02 },
      { 0x30, 0x00, 0x00 },
      { 0x30, 0x02, 0x1c },
      { 0x30, 0x04, 0xff },
      { 0x30, 0x06, 0xc3 },
      { 0x30, 0x0e, 0x58 },
      { 0x30, 0x2e, 0x00 },
      { 0x43, 0x00, 0x30 },
      { 0x50, 0x1f, 0x00 },
      { 0x47, 0x13, 0x04 }, // { 0x47, 0x13, 0x03 },
      { 0x44, 0x07, 0x04 },
      { 0x46, 0x0b, 0x35 },
      { 0x46, 0x0c, 0x22 },
      { 0x38, 0x24, 0x02 }, // { 0x38, 0x24, 0x01 },
      { 0x50, 0x01, 0xa3 },
      { 0x34, 0x06, 0x01 },
      { 0x34, 0x00, 0x06 },
      { 0x34, 0x01, 0x80 },
      { 0x34, 0x02, 0x04 },
      { 0x34, 0x03, 0x00 },
      { 0x34, 0x04, 0x06 },
      { 0x34, 0x05, 0x00 },
      { 0x51, 0x80, 0xff },
      { 0x51, 0x81, 0xf2 },
      { 0x51, 0x82, 0x00 },
      { 0x51, 0x83, 0x14 },
      { 0x51, 0x84, 0x25 },
      { 0x51, 0x85, 0x24 },
      { 0x51, 0x86, 0x16 },
      { 0x51, 0x87, 0x16 },
      { 0x51, 0x88, 0x16 },
      { 0x51, 0x89, 0x62 },
      { 0x51, 0x8a, 0x62 },
      { 0x51, 0x8b, 0xf0 },
      { 0x51, 0x8c, 0xb2 },
      { 0x51, 0x8d, 0x50 },
      { 0x51, 0x8e, 0x30 },
      { 0x51, 0x8f, 0x30 },
      { 0x51, 0x90, 0x50 },
      { 0x51, 0x91, 0xf8 },
      { 0x51, 0x92, 0x04 },
      { 0x51, 0x93, 0x70 },
      { 0x51, 0x94, 0xf0 },
      { 0x51, 0x95, 0xf0 },
      { 0x51, 0x96, 0x03 },
      { 0x51, 0x97, 0x01 },
      { 0x51, 0x98, 0x04 },
      { 0x51, 0x99, 0x12 },
      { 0x51, 0x9a, 0x04 },
      { 0x51, 0x9b, 0x00 },
      { 0x51, 0x9c, 0x06 },
      { 0x51, 0x9d, 0x82 },
      { 0x51, 0x9e, 0x38 },
      { 0x53, 0x81, 0x1e },
      { 0x53, 0x82, 0x5b },
      { 0x53, 0x83, 0x14 },
      { 0x53, 0x84, 0x06 },
      { 0x53, 0x85, 0x82 },
      { 0x53, 0x86, 0x88 },
      { 0x53, 0x87, 0x7c },
      { 0x53, 0x88, 0x60 },
      { 0x53, 0x89, 0x1c },
      { 0x53, 0x8a, 0x01 },
      { 0x53, 0x8b, 0x98 },
      { 0x53, 0x00, 0x08 },
      { 0x53, 0x01, 0x30 },
      { 0x53, 0x02, 0x3f },
      { 0x53, 0x03, 0x10 },
      { 0x53, 0x04, 0x08 },
      { 0x53, 0x05, 0x30 },
      { 0x53, 0x06, 0x18 },
      { 0x53, 0x07, 0x28 },
      { 0x53, 0x09, 0x08 },
      { 0x53, 0x0a, 0x30 },
      { 0x53, 0x0b, 0x04 },
      { 0x53, 0x0c, 0x06 },
      { 0x54, 0x80, 0x01 },
      { 0x54, 0x81, 0x06 },
      { 0x54, 0x82, 0x12 },
      { 0x54, 0x83, 0x24 },
      { 0x54, 0x84, 0x4a },
      { 0x54, 0x85, 0x58 },
      { 0x54, 0x86, 0x65 },
      { 0x54, 0x87, 0x72 },
      { 0x54, 0x88, 0x7d },
      { 0x54, 0x89, 0x88 },
      { 0x54, 0x8a, 0x92 },
      { 0x54, 0x8b, 0xa3 },
      { 0x54, 0x8c, 0xb2 },
      { 0x54, 0x8d, 0xc8 },
      { 0x54, 0x8e, 0xdd },
      { 0x54, 0x8f, 0xf0 },
      { 0x54, 0x90, 0x15 },
      { 0x55, 0x80, 0x06 },
      { 0x55, 0x83, 0x40 },
      { 0x55, 0x84, 0x20 },
      { 0x55, 0x89, 0x10 },
      { 0x55, 0x8a, 0x00 },
      { 0x55, 0x8b, 0xf8 },
      { 0x50, 0x00, 0x27 }, // { 0x50, 0x00, 0xa7 },
      { 0x58, 0x00, 0x20 },
      { 0x58, 0x01, 0x19 },
      { 0x58, 0x02, 0x17 },
      { 0x58, 0x03, 0x16 },
      { 0x58, 0x04, 0x18 },
      { 0x58, 0x05, 0x21 },
      { 0x58, 0x06, 0x0F },
      { 0x58, 0x07, 0x0A },
      { 0x58, 0x08, 0x07 },
      { 0x58, 0x09, 0x07 },
      { 0x58, 0x0a, 0x0A },
      { 0x58, 0x0b, 0x0C },
      { 0x58, 0x0c, 0x0A },
      { 0x58, 0x0d, 0x03 },
      { 0x58, 0x0e, 0x01 },
      { 0x58, 0x0f, 0x01 },
      { 0x58, 0x10, 0x03 },
      { 0x58, 0x11, 0x09 },
      { 0x58, 0x12, 0x0A },
      { 0x58, 0x13, 0x03 },
      { 0x58, 0x14, 0x01 },
      { 0x58, 0x15, 0x01 },
      { 0x58, 0x16, 0x03 },
      { 0x58, 0x17, 0x08 },
      { 0x58, 0x18, 0x10 },
      { 0x58, 0x19, 0x0A },
      { 0x58, 0x1a, 0x06 },
      { 0x58, 0x1b, 0x06 },
      { 0x58, 0x1c, 0x08 },
      { 0x58, 0x1d, 0x0E },
      { 0x58, 0x1e, 0x22 },
      { 0x58, 0x1f, 0x18 },
      { 0x58, 0x20, 0x13 },
      { 0x58, 0x21, 0x12 },
      { 0x58, 0x22, 0x16 },
      { 0x58, 0x23, 0x1E },
      { 0x58, 0x24, 0x64 },
      { 0x58, 0x25, 0x2A },
      { 0x58, 0x26, 0x2C },
      { 0x58, 0x27, 0x2A },
      { 0x58, 0x28, 0x46 },
      { 0x58, 0x29, 0x2A },
      { 0x58, 0x2a, 0x26 },
      { 0x58, 0x2b, 0x24 },
      { 0x58, 0x2c, 0x26 },
      { 0x58, 0x2d, 0x2A },
      { 0x58, 0x2e, 0x28 },
      { 0x58, 0x2f, 0x42 },
      { 0x58, 0x30, 0x40 },
      { 0x58, 0x31, 0x42 },
      { 0x58, 0x32, 0x08 },
      { 0x58, 0x33, 0x28 },
      { 0x58, 0x34, 0x26 },
      { 0x58, 0x35, 0x24 },
      { 0x58, 0x36, 0x26 },
      { 0x58, 0x37, 0x2A },
      { 0x58, 0x38, 0x44 },
      { 0x58, 0x39, 0x4A },
      { 0x58, 0x3a, 0x2C },
      { 0x58, 0x3b, 0x2a },
      { 0x58, 0x3c, 0x46 },
      { 0x58, 0x3d, 0xCE },
      { 0x56, 0x88, 0x11 }, // { 0x56, 0x88, 0x22 },
      { 0x56, 0x89, 0x11 }, // { 0x56, 0x89, 0x22 },
      { 0x56, 0x8a, 0x11 }, // { 0x56, 0x8a, 0x42 },
      { 0x56, 0x8b, 0x11 }, // { 0x56, 0x8b, 0x24 },
      { 0x56, 0x8c, 0x11 }, // { 0x56, 0x8c, 0x42 },
      { 0x56, 0x8d, 0x11 }, // { 0x56, 0x8d, 0x24 },
      { 0x56, 0x8e, 0x11 }, // { 0x56, 0x8e, 0x22 },
      { 0x56, 0x8f, 0x11 }, // { 0x56, 0x8f, 0x22 },
      { 0x50, 0x25, 0x00 },
      { 0x3a, 0x0f, 0x42 }, // { 0x3a, 0x0f, 0x30 },
      { 0x3a, 0x10, 0x38 }, // { 0x3a, 0x10, 0x28 },
      { 0x3a, 0x1b, 0x44 }, // { 0x3a, 0x1b, 0x30 },
      { 0x3a, 0x1e, 0x36 }, // { 0x3a, 0x1e, 0x28 },
      { 0x3a, 0x11, 0x60 }, // { 0x3a, 0x11, 0x61 },
      { 0x3a, 0x1f, 0x10 },
      { 0x40, 0x05, 0x1a },
      { 0x34, 0x06, 0x00 },
      { 0x35, 0x03, 0x00 },
      { 0x30, 0x08, 0x02 },
  
  // OpenMV Custom.
  
      { 0x3a, 0x02, 0x07 },
      { 0x3a, 0x03, 0xae },
      { 0x3a, 0x08, 0x01 },
      { 0x3a, 0x09, 0x27 },
      { 0x3a, 0x0a, 0x00 },
      { 0x3a, 0x0b, 0xf6 },
      { 0x3a, 0x0e, 0x06 },
      { 0x3a, 0x0d, 0x08 },
      { 0x3a, 0x14, 0x07 },
      { 0x3a, 0x15, 0xae },
      { 0x44, 0x01, 0x0d }, // | Read SRAM enable when blanking | Read SRAM at first blanking
      { 0x47, 0x23, 0x03 }, // DVP JPEG Mode456 Skip Line Number
  
  // End.
  
      { 0x00, 0x00, 0x00 }
  };
  
  #if (OMV_ENABLE_OV5640_AF == 1)
  static const uint8_t af_firmware_regs[] = {
      0x02, 0x0f, 0xd6, 0x02, 0x0a, 0x39, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0xb2, 0xe5, 0x1f,
      0x70, 0x72, 0xf5, 0x1e, 0xd2, 0x35, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xe4, 0xf6, 0x08,
      0xf6, 0x0f, 0xbf, 0x34, 0xf2, 0x90, 0x0e, 0x93, 0xe4, 0x93, 0xff, 0xe5, 0x4b, 0xc3, 0x9f, 0x50,
      0x04, 0x7f, 0x05, 0x80, 0x02, 0x7f, 0xfb, 0x78, 0xbd, 0xa6, 0x07, 0x12, 0x0f, 0x04, 0x40, 0x04,
      0x7f, 0x03, 0x80, 0x02, 0x7f, 0x30, 0x78, 0xbc, 0xa6, 0x07, 0xe6, 0x18, 0xf6, 0x08, 0xe6, 0x78,
      0xb9, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xba, 0xf6, 0x78, 0xbf, 0x76, 0x33, 0xe4, 0x08, 0xf6, 0x78,
      0xb8, 0x76, 0x01, 0x75, 0x4a, 0x02, 0x78, 0xb6, 0xf6, 0x08, 0xf6, 0x74, 0xff, 0x78, 0xc1, 0xf6,
      0x08, 0xf6, 0x75, 0x1f, 0x01, 0x78, 0xbc, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 0xf5, 0x4b, 0x12, 0x0a,
      0xff, 0xc2, 0x37, 0x22, 0x78, 0xb8, 0xe6, 0xd3, 0x94, 0x00, 0x40, 0x02, 0x16, 0x22, 0xe5, 0x1f,
      0xb4, 0x05, 0x23, 0xe4, 0xf5, 0x1f, 0xc2, 0x01, 0x78, 0xb6, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x78,
      0x4e, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xa2, 0x37, 0xe4, 0x33, 0xf5, 0x3c, 0x90, 0x30, 0x28, 0xf0,
      0x75, 0x1e, 0x10, 0xd2, 0x35, 0x22, 0xe5, 0x4b, 0x75, 0xf0, 0x05, 0x84, 0x78, 0xbc, 0xf6, 0x90,
      0x0e, 0x8c, 0xe4, 0x93, 0xff, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x78,
      0xbc, 0xe6, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x12, 0x0f, 0x0b,
      0xd3, 0x78, 0xb7, 0x96, 0xee, 0x18, 0x96, 0x40, 0x0d, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78,
      0xb6, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0x12, 0x0f, 0x0b, 0xc3, 0x78,
      0xc2, 0x96, 0xee, 0x18, 0x96, 0x50, 0x0d, 0x78, 0xbc, 0xe6, 0x78, 0xba, 0xf6, 0x78, 0xc1, 0xa6,
      0x06, 0x08, 0xa6, 0x07, 0x78, 0xb6, 0xe6, 0xfe, 0x08, 0xe6, 0xc3, 0x78, 0xc2, 0x96, 0xff, 0xee,
      0x18, 0x96, 0x78, 0xc3, 0xf6, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x95, 0xe4, 0x18, 0x12, 0x0e, 0xe9,
      0x40, 0x02, 0xd2, 0x37, 0x78, 0xbc, 0xe6, 0x08, 0x26, 0x08, 0xf6, 0xe5, 0x1f, 0x64, 0x01, 0x70,
      0x4a, 0xe6, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xdf, 0x40, 0x05, 0x12, 0x0e, 0xda, 0x40, 0x39, 0x12,
      0x0f, 0x02, 0x40, 0x04, 0x7f, 0xfe, 0x80, 0x02, 0x7f, 0x02, 0x78, 0xbd, 0xa6, 0x07, 0x78, 0xb9,
      0xe6, 0x24, 0x03, 0x78, 0xbf, 0xf6, 0x78, 0xb9, 0xe6, 0x24, 0xfd, 0x78, 0xc0, 0xf6, 0x12, 0x0f,
      0x02, 0x40, 0x06, 0x78, 0xc0, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbf, 0xe6, 0xff, 0x78, 0xbe, 0xa6,
      0x07, 0x75, 0x1f, 0x02, 0x78, 0xb8, 0x76, 0x01, 0x02, 0x02, 0x4a, 0xe5, 0x1f, 0x64, 0x02, 0x60,
      0x03, 0x02, 0x02, 0x2a, 0x78, 0xbe, 0xe6, 0xff, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xe0, 0x40, 0x08,
      0x12, 0x0e, 0xda, 0x50, 0x03, 0x02, 0x02, 0x28, 0x12, 0x0f, 0x02, 0x40, 0x04, 0x7f, 0xff, 0x80,
      0x02, 0x7f, 0x01, 0x78, 0xbd, 0xa6, 0x07, 0x78, 0xb9, 0xe6, 0x04, 0x78, 0xbf, 0xf6, 0x78, 0xb9,
      0xe6, 0x14, 0x78, 0xc0, 0xf6, 0x18, 0x12, 0x0f, 0x04, 0x40, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f,
      0x00, 0x78, 0xbf, 0xa6, 0x07, 0xd3, 0x08, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0xe6, 0xff,
      0x80, 0x02, 0x7f, 0x00, 0x78, 0xc0, 0xa6, 0x07, 0xc3, 0x18, 0xe6, 0x64, 0x80, 0x94, 0xb3, 0x50,
      0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xbf, 0xa6, 0x07, 0xc3, 0x08, 0xe6, 0x64, 0x80,
      0x94, 0xb3, 0x50, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xc0, 0xa6, 0x07, 0x12, 0x0f,
      0x02, 0x40, 0x06, 0x78, 0xc0, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbf, 0xe6, 0xff, 0x78, 0xbe, 0xa6,
      0x07, 0x75, 0x1f, 0x03, 0x78, 0xb8, 0x76, 0x01, 0x80, 0x20, 0xe5, 0x1f, 0x64, 0x03, 0x70, 0x26,
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      0x12, 0x0d, 0x0d, 0x75, 0x1e, 0x70, 0xd2, 0x35, 0x02, 0x0a, 0x1d, 0x02, 0x0a, 0x04, 0x85, 0x40,
      0x4a, 0x85, 0x3c, 0x4b, 0x12, 0x0a, 0xff, 0x02, 0x0a, 0x1d, 0x85, 0x4a, 0x40, 0x85, 0x4b, 0x3c,
      0x02, 0x0a, 0x1d, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x85, 0x40, 0x31, 0x85, 0x3f, 0x30, 0x85, 0x3e,
      0x2f, 0x85, 0x3d, 0x2e, 0x12, 0x0f, 0x46, 0x80, 0x1f, 0x75, 0x22, 0x00, 0x75, 0x23, 0x01, 0x74,
      0xff, 0xf5, 0x2d, 0xf5, 0x2c, 0xf5, 0x2b, 0xf5, 0x2a, 0x12, 0x0f, 0x46, 0x85, 0x2d, 0x40, 0x85,
      0x2c, 0x3f, 0x85, 0x2b, 0x3e, 0x85, 0x2a, 0x3d, 0xe4, 0xf5, 0x3c, 0x80, 0x70, 0x12, 0x0f, 0x16,
      0x80, 0x6b, 0x85, 0x3d, 0x45, 0x85, 0x3e, 0x46, 0xe5, 0x47, 0xc3, 0x13, 0xff, 0xe5, 0x45, 0xc3,
      0x9f, 0x50, 0x02, 0x8f, 0x45, 0xe5, 0x48, 0xc3, 0x13, 0xff, 0xe5, 0x46, 0xc3, 0x9f, 0x50, 0x02,
      0x8f, 0x46, 0xe5, 0x47, 0xc3, 0x13, 0xff, 0xfd, 0xe5, 0x45, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe5,
      0x44, 0x12, 0x0f, 0x90, 0x40, 0x05, 0xe5, 0x44, 0x9f, 0xf5, 0x45, 0xe5, 0x48, 0xc3, 0x13, 0xff,
      0xfd, 0xe5, 0x46, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe5, 0x43, 0x12, 0x0f, 0x90, 0x40, 0x05, 0xe5,
      0x43, 0x9f, 0xf5, 0x46, 0x12, 0x06, 0xd7, 0x80, 0x14, 0x85, 0x40, 0x48, 0x85, 0x3f, 0x47, 0x85,
      0x3e, 0x46, 0x85, 0x3d, 0x45, 0x80, 0x06, 0x02, 0x06, 0xd7, 0x12, 0x0d, 0x7e, 0x90, 0x30, 0x24,
      0xe5, 0x3d, 0xf0, 0xa3, 0xe5, 0x3e, 0xf0, 0xa3, 0xe5, 0x3f, 0xf0, 0xa3, 0xe5, 0x40, 0xf0, 0xa3,
      0xe5, 0x3c, 0xf0, 0x90, 0x30, 0x23, 0xe4, 0xf0, 0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0xc0,
      0xd0, 0x90, 0x3f, 0x0c, 0xe0, 0xf5, 0x32, 0xe5, 0x32, 0x30, 0xe3, 0x74, 0x30, 0x36, 0x66, 0x90,
      0x60, 0x19, 0xe0, 0xf5, 0x0a, 0xa3, 0xe0, 0xf5, 0x0b, 0x90, 0x60, 0x1d, 0xe0, 0xf5, 0x14, 0xa3,
      0xe0, 0xf5, 0x15, 0x90, 0x60, 0x21, 0xe0, 0xf5, 0x0c, 0xa3, 0xe0, 0xf5, 0x0d, 0x90, 0x60, 0x29,
      0xe0, 0xf5, 0x0e, 0xa3, 0xe0, 0xf5, 0x0f, 0x90, 0x60, 0x31, 0xe0, 0xf5, 0x10, 0xa3, 0xe0, 0xf5,
      0x11, 0x90, 0x60, 0x39, 0xe0, 0xf5, 0x12, 0xa3, 0xe0, 0xf5, 0x13, 0x30, 0x01, 0x06, 0x30, 0x33,
      0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x09, 0x30, 0x02, 0x06, 0x30, 0x33, 0x03, 0xd3, 0x80, 0x01,
      0xc3, 0x92, 0x0a, 0x30, 0x33, 0x0c, 0x30, 0x03, 0x09, 0x20, 0x02, 0x06, 0x20, 0x01, 0x03, 0xd3,
      0x80, 0x01, 0xc3, 0x92, 0x0b, 0x90, 0x30, 0x01, 0xe0, 0x44, 0x40, 0xf0, 0xe0, 0x54, 0xbf, 0xf0,
      0xe5, 0x32, 0x30, 0xe1, 0x14, 0x30, 0x34, 0x11, 0x90, 0x30, 0x22, 0xe0, 0xf5, 0x08, 0xe4, 0xf0,
      0x30, 0x00, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x08, 0xe5, 0x32, 0x30, 0xe5, 0x12, 0x90, 0x56,
      0xa1, 0xe0, 0xf5, 0x09, 0x30, 0x31, 0x09, 0x30, 0x05, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0d,
      0x90, 0x3f, 0x0c, 0xe5, 0x32, 0xf0, 0xd0, 0xd0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90,
      0x0e, 0x7e, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xff, 0xc3, 0x90, 0x0e, 0x7c, 0x74, 0x01, 0x93,
      0x9f, 0xff, 0xe4, 0x93, 0x9e, 0xfe, 0xe4, 0x8f, 0x3b, 0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0xab,
      0x3b, 0xaa, 0x3a, 0xa9, 0x39, 0xa8, 0x38, 0xaf, 0x4b, 0xfc, 0xfd, 0xfe, 0x12, 0x05, 0x28, 0x12,
      0x0d, 0xe1, 0xe4, 0x7b, 0xff, 0xfa, 0xf9, 0xf8, 0x12, 0x05, 0xb3, 0x12, 0x0d, 0xe1, 0x90, 0x0e,
      0x69, 0xe4, 0x12, 0x0d, 0xf6, 0x12, 0x0d, 0xe1, 0xe4, 0x85, 0x4a, 0x37, 0xf5, 0x36, 0xf5, 0x35,
      0xf5, 0x34, 0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0xa3, 0x12, 0x0d, 0xf6, 0x8f, 0x37,
      0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0xe5, 0x3b, 0x45, 0x37, 0xf5, 0x3b, 0xe5, 0x3a, 0x45, 0x36,
      0xf5, 0x3a, 0xe5, 0x39, 0x45, 0x35, 0xf5, 0x39, 0xe5, 0x38, 0x45, 0x34, 0xf5, 0x38, 0xe4, 0xf5,
      0x22, 0xf5, 0x23, 0x85, 0x3b, 0x31, 0x85, 0x3a, 0x30, 0x85, 0x39, 0x2f, 0x85, 0x38, 0x2e, 0x02,
      0x0f, 0x46, 0xe0, 0xa3, 0xe0, 0x75, 0xf0, 0x02, 0xa4, 0xff, 0xae, 0xf0, 0xc3, 0x08, 0xe6, 0x9f,
      0xf6, 0x18, 0xe6, 0x9e, 0xf6, 0x22, 0xff, 0xe5, 0xf0, 0x34, 0x60, 0x8f, 0x82, 0xf5, 0x83, 0xec,
      0xf0, 0x22, 0x78, 0x52, 0x7e, 0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x02, 0x04, 0xc1, 0xe4, 0xfc,
      0xfd, 0x12, 0x06, 0x99, 0x78, 0x5c, 0xe6, 0xc3, 0x13, 0xfe, 0x08, 0xe6, 0x13, 0x22, 0x78, 0x52,
      0xe6, 0xfe, 0x08, 0xe6, 0xff, 0xe4, 0xfc, 0xfd, 0x22, 0xe7, 0xc4, 0xf8, 0x54, 0xf0, 0xc8, 0x68,
      0xf7, 0x09, 0xe7, 0xc4, 0x54, 0x0f, 0x48, 0xf7, 0x22, 0xe6, 0xfc, 0xed, 0x75, 0xf0, 0x04, 0xa4,
      0x22, 0x12, 0x06, 0x7c, 0x8f, 0x48, 0x8e, 0x47, 0x8d, 0x46, 0x8c, 0x45, 0x22, 0xe0, 0xfe, 0xa3,
      0xe0, 0xfd, 0xee, 0xf6, 0xed, 0x08, 0xf6, 0x22, 0x13, 0xff, 0xc3, 0xe6, 0x9f, 0xff, 0x18, 0xe6,
      0x9e, 0xfe, 0x22, 0xe6, 0xc3, 0x13, 0xf7, 0x08, 0xe6, 0x13, 0x09, 0xf7, 0x22, 0xad, 0x39, 0xac,
      0x38, 0xfa, 0xf9, 0xf8, 0x12, 0x05, 0x28, 0x8f, 0x3b, 0x8e, 0x3a, 0x8d, 0x39, 0x8c, 0x38, 0xab,
      0x37, 0xaa, 0x36, 0xa9, 0x35, 0xa8, 0x34, 0x22, 0x93, 0xff, 0xe4, 0xfc, 0xfd, 0xfe, 0x12, 0x05,
      0x28, 0x8f, 0x37, 0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0x22, 0x78, 0x84, 0xe6, 0xfe, 0x08, 0xe6,
      0xff, 0xe4, 0x8f, 0x37, 0x8e, 0x36, 0xf5, 0x35, 0xf5, 0x34, 0x22, 0x90, 0x0e, 0x8c, 0xe4, 0x93,
      0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xe6, 0xfe, 0x08, 0xe6, 0xff,
      0xe4, 0x8f, 0x3b, 0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0x22, 0x78, 0x4e, 0xe6, 0xfe, 0x08, 0xe6,
      0xff, 0x22, 0xef, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x22, 0x78, 0x89,
      0xef, 0x26, 0xf6, 0x18, 0xe4, 0x36, 0xf6, 0x22, 0x75, 0x89, 0x03, 0x75, 0xa8, 0x01, 0x75, 0xb8,
      0x04, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x15, 0x75, 0x37, 0x0d, 0x12, 0x0e, 0x9a,
      0x12, 0x00, 0x09, 0x12, 0x0f, 0x16, 0x12, 0x00, 0x06, 0xd2, 0x00, 0xd2, 0x34, 0xd2, 0xaf, 0x75,
      0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x49, 0x75, 0x37, 0x03, 0x12, 0x0e, 0x9a, 0x30, 0x08,
      0x09, 0xc2, 0x34, 0x12, 0x08, 0xcb, 0xc2, 0x08, 0xd2, 0x34, 0x30, 0x0b, 0x09, 0xc2, 0x36, 0x12,
      0x02, 0x6c, 0xc2, 0x0b, 0xd2, 0x36, 0x30, 0x09, 0x09, 0xc2, 0x36, 0x12, 0x00, 0x0e, 0xc2, 0x09,
      0xd2, 0x36, 0x30, 0x0e, 0x03, 0x12, 0x06, 0xd7, 0x30, 0x35, 0xd3, 0x90, 0x30, 0x29, 0xe5, 0x1e,
      0xf0, 0xb4, 0x10, 0x05, 0x90, 0x30, 0x23, 0xe4, 0xf0, 0xc2, 0x35, 0x80, 0xc1, 0xe4, 0xf5, 0x4b,
      0x90, 0x0e, 0x7a, 0x93, 0xff, 0xe4, 0x8f, 0x37, 0xf5, 0x36, 0xf5, 0x35, 0xf5, 0x34, 0xaf, 0x37,
      0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0x90, 0x0e, 0x6a, 0x12, 0x0d, 0xf6, 0x8f, 0x37, 0x8e, 0x36,
      0x8d, 0x35, 0x8c, 0x34, 0x90, 0x0e, 0x72, 0x12, 0x06, 0x7c, 0xef, 0x45, 0x37, 0xf5, 0x37, 0xee,
      0x45, 0x36, 0xf5, 0x36, 0xed, 0x45, 0x35, 0xf5, 0x35, 0xec, 0x45, 0x34, 0xf5, 0x34, 0xe4, 0xf5,
      0x22, 0xf5, 0x23, 0x85, 0x37, 0x31, 0x85, 0x36, 0x30, 0x85, 0x35, 0x2f, 0x85, 0x34, 0x2e, 0x12,
      0x0f, 0x46, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e, 0x72, 0x12, 0x0d, 0xea, 0x12, 0x0f, 0x46,
      0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e, 0x6e, 0x12, 0x0d, 0xea, 0x02, 0x0f, 0x46, 0xe5, 0x40,
      0x24, 0xf2, 0xf5, 0x37, 0xe5, 0x3f, 0x34, 0x43, 0xf5, 0x36, 0xe5, 0x3e, 0x34, 0xa2, 0xf5, 0x35,
      0xe5, 0x3d, 0x34, 0x28, 0xf5, 0x34, 0xe5, 0x37, 0xff, 0xe4, 0xfe, 0xfd, 0xfc, 0x78, 0x18, 0x12,
      0x06, 0x69, 0x8f, 0x40, 0x8e, 0x3f, 0x8d, 0x3e, 0x8c, 0x3d, 0xe5, 0x37, 0x54, 0xa0, 0xff, 0xe5,
      0x36, 0xfe, 0xe4, 0xfd, 0xfc, 0x78, 0x07, 0x12, 0x06, 0x56, 0x78, 0x10, 0x12, 0x0f, 0x9a, 0xe4,
      0xff, 0xfe, 0xe5, 0x35, 0xfd, 0xe4, 0xfc, 0x78, 0x0e, 0x12, 0x06, 0x56, 0x12, 0x0f, 0x9d, 0xe4,
      0xff, 0xfe, 0xfd, 0xe5, 0x34, 0xfc, 0x78, 0x18, 0x12, 0x06, 0x56, 0x78, 0x08, 0x12, 0x0f, 0x9a,
      0x22, 0x8f, 0x3b, 0x8e, 0x3a, 0x8d, 0x39, 0x8c, 0x38, 0x22, 0x12, 0x06, 0x7c, 0x8f, 0x31, 0x8e,
      0x30, 0x8d, 0x2f, 0x8c, 0x2e, 0x22, 0x93, 0xf9, 0xf8, 0x02, 0x06, 0x69, 0x00, 0x00, 0x00, 0x00,
      0x12, 0x01, 0x17, 0x08, 0x31, 0x15, 0x53, 0x54, 0x44, 0x20, 0x20, 0x20, 0x20, 0x20, 0x13, 0x01,
      0x10, 0x01, 0x56, 0x40, 0x1a, 0x30, 0x29, 0x7e, 0x00, 0x30, 0x04, 0x20, 0xdf, 0x30, 0x05, 0x40,
      0xbf, 0x50, 0x03, 0x00, 0xfd, 0x50, 0x27, 0x01, 0xfe, 0x60, 0x00, 0x11, 0x00, 0x3f, 0x05, 0x30,
      0x00, 0x3f, 0x06, 0x22, 0x00, 0x3f, 0x01, 0x2a, 0x00, 0x3f, 0x02, 0x00, 0x00, 0x36, 0x06, 0x07,
      0x00, 0x3f, 0x0b, 0x0f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x30, 0x01, 0x40, 0xbf, 0x30, 0x01, 0x00,
      0xbf, 0x30, 0x29, 0x70, 0x00, 0x3a, 0x00, 0x00, 0xff, 0x3a, 0x00, 0x00, 0xff, 0x36, 0x03, 0x36,
      0x02, 0x41, 0x44, 0x58, 0x20, 0x18, 0x10, 0x0a, 0x04, 0x04, 0x00, 0x03, 0xff, 0x64, 0x00, 0x00,
      0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x04, 0x06, 0x06, 0x00, 0x03, 0x51, 0x00, 0x7a,
      0x50, 0x3c, 0x28, 0x1e, 0x10, 0x10, 0x50, 0x2d, 0x28, 0x16, 0x10, 0x10, 0x02, 0x00, 0x10, 0x0c,
      0x10, 0x04, 0x0c, 0x6e, 0x06, 0x05, 0x00, 0xa5, 0x5a, 0x00, 0xae, 0x35, 0xaf, 0x36, 0xe4, 0xfd,
      0xed, 0xc3, 0x95, 0x37, 0x50, 0x33, 0x12, 0x0f, 0xe2, 0xe4, 0x93, 0xf5, 0x38, 0x74, 0x01, 0x93,
      0xf5, 0x39, 0x45, 0x38, 0x60, 0x23, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xe0, 0xfc, 0x12, 0x0f,
      0xe2, 0x74, 0x03, 0x93, 0x52, 0x04, 0x12, 0x0f, 0xe2, 0x74, 0x02, 0x93, 0x42, 0x04, 0x85, 0x39,
      0x82, 0x85, 0x38, 0x83, 0xec, 0xf0, 0x0d, 0x80, 0xc7, 0x22, 0x78, 0xbe, 0xe6, 0xd3, 0x08, 0xff,
      0xe6, 0x64, 0x80, 0xf8, 0xef, 0x64, 0x80, 0x98, 0x22, 0x93, 0xff, 0x7e, 0x00, 0xe6, 0xfc, 0x08,
      0xe6, 0xfd, 0x12, 0x04, 0xc1, 0x78, 0xc1, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0xd3, 0xef, 0x9d, 0xee,
      0x9c, 0x22, 0x78, 0xbd, 0xd3, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x22, 0x25, 0xe0, 0x24, 0x0a, 0xf8,
      0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xe5, 0x3c, 0xd3, 0x94, 0x00, 0x40, 0x0b, 0x90, 0x0e, 0x88,
      0x12, 0x0b, 0xf1, 0x90, 0x0e, 0x86, 0x80, 0x09, 0x90, 0x0e, 0x82, 0x12, 0x0b, 0xf1, 0x90, 0x0e,
      0x80, 0xe4, 0x93, 0xf5, 0x44, 0xa3, 0xe4, 0x93, 0xf5, 0x43, 0xd2, 0x06, 0x30, 0x06, 0x03, 0xd3,
      0x80, 0x01, 0xc3, 0x92, 0x0e, 0x22, 0xa2, 0xaf, 0x92, 0x32, 0xc2, 0xaf, 0xe5, 0x23, 0x45, 0x22,
      0x90, 0x0e, 0x5d, 0x60, 0x0e, 0x12, 0x0f, 0xcb, 0xe0, 0xf5, 0x2c, 0x12, 0x0f, 0xc8, 0xe0, 0xf5,
      0x2d, 0x80, 0x0c, 0x12, 0x0f, 0xcb, 0xe5, 0x30, 0xf0, 0x12, 0x0f, 0xc8, 0xe5, 0x31, 0xf0, 0xa2,
      0x32, 0x92, 0xaf, 0x22, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2,
      0x33, 0xd2, 0x36, 0xd2, 0x01, 0xc2, 0x02, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2, 0x33, 0x22,
      0xfb, 0xd3, 0xed, 0x9b, 0x74, 0x80, 0xf8, 0x6c, 0x98, 0x22, 0x12, 0x06, 0x69, 0xe5, 0x40, 0x2f,
      0xf5, 0x40, 0xe5, 0x3f, 0x3e, 0xf5, 0x3f, 0xe5, 0x3e, 0x3d, 0xf5, 0x3e, 0xe5, 0x3d, 0x3c, 0xf5,
      0x3d, 0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0x90, 0x3f, 0x0d, 0xe0, 0xf5, 0x33, 0xe5, 0x33,
      0xf0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90, 0x0e, 0x5f, 0xe4, 0x93, 0xfe, 0x74, 0x01,
      0x93, 0xf5, 0x82, 0x8e, 0x83, 0x22, 0x78, 0x7f, 0xe4, 0xf6, 0xd8, 0xfd, 0x75, 0x81, 0xcd, 0x02,
      0x0c, 0x98, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x06, 0xa5
  };
  
  static const uint8_t af_firmware_command_regs[][3] = {
  
      {0x30, 0x22, 0x03},
      {0x30, 0x23, 0x00},
      {0x30, 0x24, 0x00},
      {0x30, 0x25, 0x00},
      {0x30, 0x26, 0x00},
      {0x30, 0x27, 0x00},
      {0x30, 0x28, 0x00},
      {0x30, 0x29, 0x7f},
  
      {0x00, 0x00, 0x00}
  };
  #endif
  
  #define NUM_BRIGHTNESS_LEVELS (9)
  
  #define NUM_CONTRAST_LEVELS (7)
  static const uint8_t contrast_regs[NUM_CONTRAST_LEVELS][1] = {
      {0x14}, /* -3 */
      {0x18}, /* -2 */
      {0x1C}, /* -1 */
      {0x00}, /* +0 */
      {0x10}, /* +1 */
      {0x18}, /* +2 */
      {0x1C}, /* +3 */
  };
  
  #define NUM_SATURATION_LEVELS (7)
  static const uint8_t saturation_regs[NUM_SATURATION_LEVELS][6] = {
      {0x0c, 0x30, 0x3d, 0x3e, 0x3d, 0x01}, /* -3 */
      {0x10, 0x3d, 0x4d, 0x4e, 0x4d, 0x01}, /* -2 */
      {0x15, 0x52, 0x66, 0x68, 0x66, 0x02}, /* -1 */
      {0x1a, 0x66, 0x80, 0x82, 0x80, 0x02}, /* +0 */
      {0x1f, 0x7a, 0x9a, 0x9c, 0x9a, 0x02}, /* +1 */
      {0x24, 0x8f, 0xb3, 0xb6, 0xb3, 0x03}, /* +2 */
      {0x2b, 0xab, 0xd6, 0xda, 0xd6, 0x04}, /* +3 */
  };
  
  static int reset(sensor_t *sensor)
  {
      int ret = 0;
      readout_x = 0;
      readout_y = 0;
  
      readout_w = ACTIVE_SENSOR_WIDTH;
      readout_h = ACTIVE_SENSOR_HEIGHT;
  
      hts_target = 0;
  
      // Reset all registers
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SCCB_SYSTEM_CTRL_1, 0x11);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_CTROL0, 0x82);
  
      // Delay 5 ms
      mp_hal_delay_ms(5);
  
      // Write default regsiters
      for (int i = 0; default_regs[i][0]; i++) {
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, (default_regs[i][0] << 8) | (default_regs[i][1] << 0), default_regs[i][2]);
      }
  
      #if defined(MCU_SERIES_H7)
      // Rev V (480 MHz / 20) -> 24 MHz PCLK / 3 * 100 = 800 MHz / 10 = 80 MHz PCLK.
      // Rev Y (400 MHz / 16) -> 25 MHz PCLK / 3 * 84 = 700 MHz / 10 = 70 MHz PCLK.
      if (HAL_GetREVID() < 0x2003) { // Is this REV Y?
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL2, 0x54);
      }
      #endif
  
      #if (OMV_ENABLE_OV5640_AF == 1)
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_00, 0x20); // force mcu reset
  
      // Write firmware
      uint16_t fw_addr = MCU_FIRMWARE_BASE;
      ret |= cambus_write_bytes(&sensor->bus, sensor->slv_addr, (uint8_t *) &fw_addr, 2, CAMBUS_XFER_SUSPEND);
      ret |= cambus_write_bytes(&sensor->bus, sensor->slv_addr, (uint8_t *) af_firmware_regs, sizeof(af_firmware_regs), CAMBUS_XFER_NO_FLAGS);
  
      for (int i = 0; af_firmware_command_regs[i][0]; i++) {
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, (af_firmware_command_regs[i][0] << 8) | (af_firmware_command_regs[i][1] << 0), af_firmware_command_regs[i][2]);
      }
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_00, 0x00); // release mcu reset
      #endif
  
      // Delay 300 ms
      mp_hal_delay_ms(300);
  
      return ret;
  }
  
  static int sleep(sensor_t *sensor, int enable)
  {
      uint8_t reg;
      if (enable) {
          reg = 0x42;
      } else {
          reg = 0x02;
      }
  
      return cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_CTROL0, reg);
  }
  
  static int read_reg(sensor_t *sensor, uint16_t reg_addr)
  {
      uint8_t reg_data;
      if (cambus_readb2(&sensor->bus, sensor->slv_addr, reg_addr, &reg_data) != 0) {
          return -1;
      }
      return reg_data;
  }
  
  static int write_reg(sensor_t *sensor, uint16_t reg_addr, uint16_t reg_data)
  {
      return cambus_writeb2(&sensor->bus, sensor->slv_addr, reg_addr, reg_data);
  }
  
  // HTS (Horizontal Time) is the readout width plus the HSYNC_TIME time. However, if this value gets
  // too low the OV5640 will crash. The minimum was determined empirically with testing...
  // Additionally, when the image width gets too large we need to slow down the line transfer rate by
  // increasing HTS so that DCMI_DMAConvCpltUser() can keep up with the data rate.
  //
  // WARNING! IF YOU CHANGE ANYTHING HERE RETEST WITH **ALL** RESOLUTIONS FOR THE AFFECTED MODE!
  static int calculate_hts(sensor_t *sensor, uint16_t width)
  {
      uint16_t hts = hts_target;
  
      if ((sensor->pixformat == PIXFORMAT_GRAYSCALE) || (sensor->pixformat == PIXFORMAT_BAYER) || (sensor->pixformat == PIXFORMAT_JPEG)) {
          if (width <= 1280) hts = IM_MAX((width * 2) + 8, hts_target);
      } else {
          if (width > 640) hts = IM_MAX((width * 2) + 8, hts_target);
      }
  
      if (width <= 640) hts += 160; // Fix image quality at low resolutions.
  
      return IM_MAX(hts + HSYNC_TIME, (SENSOR_WIDTH + HSYNC_TIME) / 2); // Fix to prevent crashing.
  }
  
  // VTS (Vertical Time) is the readout height plus the VYSNC_TIME time. However, if this value gets
  // too low the OV5640 will crash. The minimum was determined empirically with testing...
  //
  // WARNING! IF YOU CHANGE ANYTHING HERE RETEST WITH **ALL** RESOLUTIONS FOR THE AFFECTED MODE!
  static int calculate_vts(sensor_t *sensor, uint16_t readout_height)
  {
      return IM_MAX(readout_height + VYSNC_TIME, (SENSOR_HEIGHT + VYSNC_TIME) / 8); // Fix to prevent crashing.
  }
  
  static int set_pixformat(sensor_t *sensor, pixformat_t pixformat)
  {
      uint8_t reg;
      int ret = 0;
  
      // Not a multiple of 8. The JPEG encoder on the OV5640 can't handle this.
      if ((pixformat == PIXFORMAT_JPEG) && ((resolution[sensor->framesize][0] % 8) || (resolution[sensor->framesize][1] % 8))) {
          return -1;
      }
  
      // Readout speed too fast. The DCMI_DMAConvCpltUser() line callback overhead is too much to handle the line transfer speed.
      // If we were to slow the pixclk down these resolutions would work. As of right now, the image shakes and scrolls with
      // the current line transfer speed. Note that there's an overhead to the DCMI_DMAConvCpltUser() function. It's not the
      // memory copy operation that's too slow. It's that there's too much overhead in the DCMI_DMAConvCpltUser() method
      // to even have time to start the line transfer. If it were possible to slow the line readout speed of the OV5640
      // this would enable these resolutions below. However, there's nothing in the datasheet that when modified does this.
      if (((pixformat == PIXFORMAT_GRAYSCALE) || (pixformat == PIXFORMAT_BAYER) || (pixformat == PIXFORMAT_JPEG))
      && ((sensor->framesize == FRAMESIZE_QQCIF)
      || (sensor->framesize == FRAMESIZE_QQSIF)
      || (sensor->framesize == FRAMESIZE_HQQQVGA)
      || (sensor->framesize == FRAMESIZE_HQQVGA))) {
          return -1;
      }
  
      switch (pixformat) {
          case PIXFORMAT_GRAYSCALE:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x10);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x00);
              break;
          case PIXFORMAT_RGB565:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x6F);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x01);
              break;
          case PIXFORMAT_YUV422:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x30);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x00);
              break;
          case PIXFORMAT_BAYER:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x00);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x01);
              break;
          case PIXFORMAT_JPEG:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL, 0x30);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, FORMAT_CONTROL_MUX, 0x00);
              break;
          default:
              return -1;
      }
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, (reg & 0xDF) | ((pixformat == PIXFORMAT_JPEG) ? 0x20 : 0x00));
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_02, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, SYSTEM_RESET_02, (reg & 0xE3) | ((pixformat == PIXFORMAT_JPEG) ? 0x00 : 0x1C));
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, CLOCK_ENABLE_02, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, CLOCK_ENABLE_02, (reg & 0xD7) | ((pixformat == PIXFORMAT_JPEG) ? 0x28 : 0x00));
  
      if (hts_target) {
          uint16_t sensor_hts = calculate_hts(sensor, resolution[sensor->framesize][0]);
  
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, sensor_hts >> 8);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, sensor_hts);
      }
  
      return ret;
  }
  
  static int set_framesize(sensor_t *sensor, framesize_t framesize)
  {
      uint8_t reg;
      int ret = 0;
      uint16_t w = resolution[framesize][0];
      uint16_t h = resolution[framesize][1];
  
      // Not a multiple of 8. The JPEG encoder on the OV5640 can't handle this.
      if ((sensor->pixformat == PIXFORMAT_JPEG) && ((w % 8) || (h % 8))) {
          return -1;
      }
  
      // Readout speed too fast. The DCMI_DMAConvCpltUser() line callback overhead is too much to handle the line transfer speed.
      // If we were to slow the pixclk down these resolutions would work. As of right now, the image shakes and scrolls with
      // the current line transfer speed. Note that there's an overhead to the DCMI_DMAConvCpltUser() function. It's not the
      // memory copy operation that's too slow. It's that there's too much overhead in the DCMI_DMAConvCpltUser() method
      // to even have time to start the line transfer. If it were possible to slow the line readout speed of the OV5640
      // this would enable these resolutions below. However, there's nothing in the datasheet that when modified does this.
      if (((sensor->pixformat == PIXFORMAT_GRAYSCALE) || (sensor->pixformat == PIXFORMAT_BAYER) || (sensor->pixformat == PIXFORMAT_JPEG))
      && ((framesize == FRAMESIZE_QQCIF)
      || (framesize == FRAMESIZE_QQSIF)
      || (framesize == FRAMESIZE_HQQQVGA)
      || (framesize == FRAMESIZE_HQQVGA))) {
          return -1;
      }
  
      // Generally doesn't work for anything.
      if (framesize == FRAMESIZE_QQQQVGA) {
          return -1;
      }
  
      // Invalid resolution.
      if ((w > ACTIVE_SENSOR_WIDTH) || (h > ACTIVE_SENSOR_HEIGHT)) {
          return -1;
      }
  
      // Step 0: Clamp readout settings.
  
      readout_w = IM_MAX(readout_w, w);
      readout_h = IM_MAX(readout_h, h);
  
      int readout_x_max = (ACTIVE_SENSOR_WIDTH - readout_w) / 2;
      int readout_y_max = (ACTIVE_SENSOR_HEIGHT - readout_h) / 2;
      readout_x = IM_MAX(IM_MIN(readout_x, readout_x_max), -readout_x_max);
      readout_y = IM_MAX(IM_MIN(readout_y, readout_y_max), -readout_y_max);
  
      // Step 1: Determine readout area and subsampling amount.
  
      uint16_t sensor_div = 0;
  
      if ((w > (readout_w / 2)) || (h > (readout_h / 2))) {
          sensor_div = 1;
      } else {
          sensor_div = 2;
      }
  
      // Step 2: Determine horizontal and vertical start and end points.
  
      uint16_t sensor_w = readout_w + DUMMY_WIDTH_BUFFER; // camera hardware needs dummy pixels to sync
      uint16_t sensor_h = readout_h + DUMMY_HEIGHT_BUFFER; // camera hardware needs dummy lines to sync
  
      uint16_t sensor_ws = IM_MAX(IM_MIN((((ACTIVE_SENSOR_WIDTH - sensor_w) / 4) + (readout_x / 2)) * 2, ACTIVE_SENSOR_WIDTH - sensor_w), -(DUMMY_WIDTH_BUFFER / 2)) + DUMMY_COLUMNS; // must be multiple of 2
      uint16_t sensor_we = sensor_ws + sensor_w - 1;
  
      uint16_t sensor_hs = IM_MAX(IM_MIN((((ACTIVE_SENSOR_HEIGHT - sensor_h) / 4) - (readout_y / 2)) * 2, ACTIVE_SENSOR_HEIGHT - sensor_h), -(DUMMY_HEIGHT_BUFFER / 2)) + DUMMY_LINES; // must be multiple of 2
      uint16_t sensor_he = sensor_hs + sensor_h - 1;
  
      // Step 3: Determine scaling window offset.
  
      float ratio = IM_MIN((readout_w / sensor_div) / ((float) w), (readout_h / sensor_div) / ((float) h));
  
      uint16_t w_mul = w * ratio;
      uint16_t h_mul = h * ratio;
      uint16_t x_off = ((sensor_w / sensor_div) - w_mul) / 2;
      uint16_t y_off = ((sensor_h / sensor_div) - h_mul) / 2;
  
      // Step 4: Compute total frame time.
  
      hts_target = sensor_w / sensor_div;
  
      uint16_t sensor_hts = calculate_hts(sensor, w);
      uint16_t sensor_vts = calculate_vts(sensor, sensor_h / sensor_div);
  
      uint16_t sensor_x_inc = (((sensor_div * 2) - 1) << 4) | (1 << 0); // odd[7:4]/even[3:0] pixel inc on the bayer pattern
      uint16_t sensor_y_inc = (((sensor_div * 2) - 1) << 4) | (1 << 0); // odd[7:4]/even[3:0] pixel inc on the bayer pattern
  
      // Step 5: Write regs.
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HS_H, sensor_ws >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HS_L, sensor_ws);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VS_H, sensor_hs >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VS_L, sensor_hs);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HW_H, sensor_we >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HW_L, sensor_we);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VH_H, sensor_he >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VH_L, sensor_he);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPHO_H, w >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPHO_L, w);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPVO_H, h >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_DVPVO_L, h);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, sensor_hts >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, sensor_hts);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_H, sensor_vts >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_L, sensor_vts);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HOFFSET_H, x_off >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_HOFFSET_L, x_off);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VOFFSET_H, y_off >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VOFFSET_L, y_off);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_X_INC, sensor_x_inc);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_Y_INC, sensor_y_inc);
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, (reg & 0xFE) | (sensor_div > 1));
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, (reg & 0xFE) | (sensor_div > 1));
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_HSIZE_H, w >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_HSIZE_L, w);
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_VSIZE_H, h >> 8);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, VFIFO_VSIZE_L, h);
  
      return ret;
  }
  
  static int set_contrast(sensor_t *sensor, int level)
  {
      int ret = 0;
  
      int new_level = level + (NUM_CONTRAST_LEVELS / 2);
      if (new_level < 0 || new_level >= NUM_CONTRAST_LEVELS) {
          return -1;
      }
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5586, (new_level + 5) << 2);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5585, contrast_regs[new_level][0]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // launch group 3
  
      return ret;
  }
  
  static int set_brightness(sensor_t *sensor, int level)
  {
      int ret = 0;
  
      int new_level = level + (NUM_BRIGHTNESS_LEVELS / 2);
      if (new_level < 0 || new_level >= NUM_BRIGHTNESS_LEVELS) {
          return -1;
      }
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5587, abs(level) << 4);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5588, (level < 0) ? 0x09 : 0x01);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // launch group 3
  
      return ret;
  }
  
  static int set_saturation(sensor_t *sensor, int level)
  {
      int ret = 0;
  
      int new_level = level + (NUM_SATURATION_LEVELS / 2);
      if (new_level < 0 || new_level >= NUM_SATURATION_LEVELS) {
          return -1;
      }
  
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5581, 0x1c);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5582, 0x5a);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5583, 0x06);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5584, saturation_regs[new_level][0]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5585, saturation_regs[new_level][1]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5586, saturation_regs[new_level][2]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5587, saturation_regs[new_level][3]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5588, saturation_regs[new_level][4]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5589, saturation_regs[new_level][5]);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x558b, 0x98);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x558a, 0x01);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // launch group 3
  
      return ret;
  }
  
  static int set_gainceiling(sensor_t *sensor, gainceiling_t gainceiling)
  {
      uint8_t reg;
      int ret = 0;
  
      int new_gainceiling = 16 << (gainceiling + 1);
      if (new_gainceiling >= 1024) {
          return -1;
      }
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, (reg & 0xFC) | (new_gainceiling >> 8));
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_L, new_gainceiling);
  
      return ret;
  }
  
  static int set_quality(sensor_t *sensor, int qs)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, JPEG_CTRL07, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, JPEG_CTRL07, (reg & 0xC0) | (qs >> 2));
  
      return ret;
  }
  
  static int set_colorbar(sensor_t *sensor, int enable)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, PRE_ISP_TEST, &reg);
      return cambus_writeb2(&sensor->bus, sensor->slv_addr, PRE_ISP_TEST, (reg & 0x7F) | (enable ? 0x80 : 0x00)) | ret;
  }
  
  static int set_auto_gain(sensor_t *sensor, int enable, float gain_db, float gain_db_ceiling)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, (reg & 0xFD) | ((enable == 0) << 1));
  
      if ((enable == 0) && (!isnanf(gain_db)) && (!isinff(gain_db))) {
          int gain = IM_MAX(IM_MIN(fast_expf((gain_db / 20.0) * fast_log(10.0)) * 16.0, 1023), 0);
  
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_H, &reg);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_H, (reg & 0xFC) | (gain >> 8));
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_L, gain);
      } else if ((enable != 0) && (!isnanf(gain_db_ceiling)) && (!isinff(gain_db_ceiling))) {
          int gain_ceiling = IM_MAX(IM_MIN(fast_expf((gain_db_ceiling / 20.0) * fast_log(10.0)) * 16.0, 1023), 0);
  
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, &reg);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_H, (reg & 0xFC) | (gain_ceiling >> 8));
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_GAIN_CEILING_L, gain_ceiling);
      }
  
      return ret;
  }
  
  static int get_gain_db(sensor_t *sensor, float *gain_db)
  {
      uint8_t gainh, gainl;
  
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_H, &gainh);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_REAL_GAIN_L, &gainl);
  
      *gain_db = 20.0 * (fast_log((((gainh & 0x3) << 8) | gainl) / 16.0) / fast_log(10.0));
  
      return ret;
  }
  
  static int calc_pclk_freq(uint8_t sc_pll_ctrl_0, uint8_t sc_pll_ctrl_1, uint8_t sc_pll_ctrl_2, uint8_t sc_pll_ctrl_3, uint8_t sys_root_div)
  {
      uint32_t pclk_freq = OV5640_XCLK_FREQ;
      pclk_freq /= ((sc_pll_ctrl_3 & 0x10) != 0x00) ? 2 : 1;
      pclk_freq /= ((sc_pll_ctrl_0 & 0x0F) == 0x0A) ? 10 : 8;
      switch (sc_pll_ctrl_3 & 0x0F)
      {
          case  0: pclk_freq /= 1; break;
          case  1: pclk_freq /= 2; break;
          case  2: pclk_freq /= 3; break;
          case  3: pclk_freq /= 4; break;
          case  4: pclk_freq /= 6; break;
          case  5: pclk_freq /= 8; break;
          default: pclk_freq /= 3; break;
      }
      pclk_freq *= sc_pll_ctrl_2;
      sc_pll_ctrl_1 >>= 4;
      pclk_freq /= sc_pll_ctrl_1;
      switch (sys_root_div & 0x30)
      {
          case 0x00: pclk_freq /= 1; break;
          case 0x10: pclk_freq /= 2; break;
          case 0x20: pclk_freq /= 4; break;
          case 0x30: pclk_freq /= 8; break;
          default:   pclk_freq /= 1; break;
      }
      return (int)pclk_freq;
  }
  
  static int set_auto_exposure(sensor_t *sensor, int enable, int exposure_us)
  {
      uint8_t reg, spc0, spc1, spc2, spc3, sysrootdiv, hts_h, hts_l, vts_h, vts_l;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_MANUAL, (reg & 0xFE) | ((enable == 0) << 0));
  
      if ((enable == 0) && (exposure_us >= 0)) {
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL0, &spc0);
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL1, &spc1);
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL2, &spc2);
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL3, &spc3);
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SYSTEM_ROOT_DIVIDER, &sysrootdiv);
  
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, &hts_h);
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, &hts_l);
  
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_H, &vts_h);
          ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_L, &vts_l);
  
          uint16_t hts = (hts_h << 8) | hts_l;
          uint16_t vts = (vts_h << 8) | vts_l;
  
          int pclk_freq = calc_pclk_freq(spc0, spc1, spc2, spc3, sysrootdiv);
          int clocks_per_us = pclk_freq / 1000000;
          int exposure = IM_MAX(IM_MIN((exposure_us * clocks_per_us) / hts, 0xFFFF), 0x0000);
  
          int new_vts = IM_MAX(exposure, vts);
  
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_0, exposure >> 12);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_1, exposure >> 4);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_2, exposure << 4);
  
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_H, new_vts >> 8);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_VTS_L, new_vts);
      }
  
      return ret;
  }
  
  static int get_exposure_us(sensor_t *sensor, int *exposure_us)
  {
      uint8_t spc0, spc1, spc2, spc3, sysrootdiv, aec_0, aec_1, aec_2, hts_h, hts_l;
      int ret = 0;
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL0, &spc0);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL1, &spc1);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL2, &spc2);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SC_PLL_CONTRL3, &spc3);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, SYSTEM_ROOT_DIVIDER, &sysrootdiv);
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_0, &aec_0);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_1, &aec_1);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AEC_PK_EXPOSURE_2, &aec_2);
  
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_H, &hts_h);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_HTS_L, &hts_l);
  
      uint32_t aec = ((aec_0 << 16) | (aec_1 << 8) | aec_2) >> 4;
      uint16_t hts = (hts_h << 8) | hts_l;
  
      int pclk_freq = calc_pclk_freq(spc0, spc1, spc2, spc3, sysrootdiv);
      int clocks_per_us = pclk_freq / 1000000;
      *exposure_us = (aec * hts) / clocks_per_us;
  
      return ret;
  }
  
  static int set_auto_whitebal(sensor_t *sensor, int enable, float r_gain_db, float g_gain_db, float b_gain_db)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_MANUAL_CONTROL, &reg);
      ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_MANUAL_CONTROL, (reg & 0xFE) | (enable == 0));
  
      if ((enable == 0) && (!isnanf(r_gain_db)) && (!isnanf(g_gain_db)) && (!isnanf(b_gain_db))
                        && (!isinff(r_gain_db)) && (!isinff(g_gain_db)) && (!isinff(b_gain_db))) {
  
          int r_gain = IM_MAX(IM_MIN(fast_roundf(fast_expf((r_gain_db / 20.0) * fast_log(10.0))), 4095), 0);
          int g_gain = IM_MAX(IM_MIN(fast_roundf(fast_expf((g_gain_db / 20.0) * fast_log(10.0))), 4095), 0);
          int b_gain = IM_MAX(IM_MIN(fast_roundf(fast_expf((b_gain_db / 20.0) * fast_log(10.0))), 4095), 0);
  
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_H, r_gain >> 8);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_L, r_gain);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_H, g_gain >> 8);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_L, g_gain);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_H, b_gain >> 8);
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_L, b_gain);
      }
  
      return ret;
  }
  
  static int get_rgb_gain_db(sensor_t *sensor, float *r_gain_db, float *g_gain_db, float *b_gain_db)
  {
      uint8_t redh, redl, greenh, greenl, blueh, bluel;
  
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_H, &redh);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_R_GAIN_L, &redl);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_H, &greenh);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_G_GAIN_L, &greenl);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_H, &blueh);
      ret |= cambus_readb2(&sensor->bus, sensor->slv_addr, AWB_B_GAIN_L, &bluel);
  
      *r_gain_db = 20.0 * (fast_log(((redh & 0xF) << 8) | redl) / fast_log(10.0));
      *g_gain_db = 20.0 * (fast_log(((greenh & 0xF) << 8) | greenl) / fast_log(10.0));
      *b_gain_db = 20.0 * (fast_log(((blueh & 0xF) << 8) | bluel) / fast_log(10.0));
  
      return ret;
  }
  
  static int set_hmirror(sensor_t *sensor, int enable)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, &reg);
      if (enable){
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, reg|0x06);
      } else {
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_21, reg&0xF9);
      }
      return ret;
  }
  
  static int set_vflip(sensor_t *sensor, int enable)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, &reg);
      if (!enable){
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, reg|0x06);
      } else {
          ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, TIMING_TC_REG_20, reg&0xF9);
      }
      return ret;
  }
  
  static int set_special_effect(sensor_t *sensor, sde_t sde)
  {
      int ret = 0;
  
      switch (sde) {
          case SDE_NEGATIVE:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5580, 0x40);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5003, 0x08);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5583, 0x40); // sat U
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5584, 0x10); // sat V
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // latch group 3
              break;
          case SDE_NORMAL:
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x03); // start group 3
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5580, 0x06);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5583, 0x40); // sat U
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5584, 0x10); // sat V
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x5003, 0x08);
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0x13); // end group 3
              ret |= cambus_writeb2(&sensor->bus, sensor->slv_addr, 0x3212, 0xa3); // latch group 3
              break;
          default:
              return -1;
      }
  
      return ret;
  }
  
  static int set_lens_correction(sensor_t *sensor, int enable, int radi, int coef)
  {
      uint8_t reg;
      int ret = cambus_readb2(&sensor->bus, sensor->slv_addr, ISP_CONTROL_00, &reg);
      return cambus_writeb2(&sensor->bus, sensor->slv_addr, ISP_CONTROL_00, (reg & 0x7F) | (enable ? 0x80 : 0x00)) | ret;
  }
  
  static int ioctl(sensor_t *sensor, int request, va_list ap)
  {
      int ret = 0;
  
      switch (request) {
          case IOCTL_SET_READOUT_WINDOW: {
              int tmp_readout_x = va_arg(ap, int);
              int tmp_readout_y = va_arg(ap, int);
              int tmp_readout_w = IM_MAX(IM_MIN(va_arg(ap, int), ACTIVE_SENSOR_WIDTH), resolution[sensor->framesize][0]);
              int tmp_readout_h = IM_MAX(IM_MIN(va_arg(ap, int), ACTIVE_SENSOR_HEIGHT), resolution[sensor->framesize][1]);
              int readout_x_max = (ACTIVE_SENSOR_WIDTH - tmp_readout_w) / 2;
              int readout_y_max = (ACTIVE_SENSOR_HEIGHT - tmp_readout_h) / 2;
              tmp_readout_x = IM_MAX(IM_MIN(tmp_readout_x, readout_x_max), -readout_x_max);
              tmp_readout_y = IM_MAX(IM_MIN(tmp_readout_y, readout_y_max), -readout_y_max);
              bool changed = (tmp_readout_x != readout_x) || (tmp_readout_y != readout_y) || (tmp_readout_w != readout_w) || (tmp_readout_h != readout_h);
              readout_x = tmp_readout_x;
              readout_y = tmp_readout_y;
              readout_w = tmp_readout_w;
              readout_h = tmp_readout_h;
              if (changed && (sensor->framesize != FRAMESIZE_INVALID)) set_framesize(sensor, sensor->framesize);
              break;
          }
          case IOCTL_GET_READOUT_WINDOW: {
              *va_arg(ap, int *) = readout_x;
              *va_arg(ap, int *) = readout_y;
              *va_arg(ap, int *) = readout_w;
              *va_arg(ap, int *) = readout_h;
              break;
          }
      #if (OMV_ENABLE_OV5640_AF == 1)
          case IOCTL_TRIGGER_AUTO_FOCUS: {
              ret = cambus_writeb2(&sensor->bus, sensor->slv_addr, AF_CMD_MAIN, 0x03);
              break;
          }
          case IOCTL_PAUSE_AUTO_FOCUS: {
              ret = cambus_writeb2(&sensor->bus, sensor->slv_addr, AF_CMD_MAIN, 0x06);
              break;
          }
          case IOCTL_RESET_AUTO_FOCUS: {
              ret = cambus_writeb2(&sensor->bus, sensor->slv_addr, AF_CMD_MAIN, 0x08);
              break;
          }
          case IOCTL_WAIT_ON_AUTO_FOCUS: {
              mp_uint_t start_tick = mp_hal_ticks_ms(), delay_ms = va_arg(ap, uint32_t);
              for (;;) {
                  uint8_t reg;
                  ret = cambus_readb2(&sensor->bus, sensor->slv_addr, AF_CMD_ACK, &reg);
                  if ((ret < 0) || (!reg)) break;
                  if ((mp_hal_ticks_ms() - start_tick) >= delay_ms) return -1;
                  mp_hal_delay_ms(1);
              }
              break;
          }
      #endif
          default: {
              ret = -1;
              break;
          }
      }
  
      return ret;
  }
  
  int ov5640_init(sensor_t *sensor)
  {
      // Initialize sensor structure.
      sensor->gs_bpp              = 1;
      sensor->reset               = reset;
      sensor->sleep               = sleep;
      sensor->read_reg            = read_reg;
      sensor->write_reg           = write_reg;
      sensor->set_pixformat       = set_pixformat;
      sensor->set_framesize       = set_framesize;
      sensor->set_contrast        = set_contrast;
      sensor->set_brightness      = set_brightness;
      sensor->set_saturation      = set_saturation;
      sensor->set_gainceiling     = set_gainceiling;
      sensor->set_quality         = set_quality;
      sensor->set_colorbar        = set_colorbar;
      sensor->set_auto_gain       = set_auto_gain;
      sensor->get_gain_db         = get_gain_db;
      sensor->set_auto_exposure   = set_auto_exposure;
      sensor->get_exposure_us     = get_exposure_us;
      sensor->set_auto_whitebal   = set_auto_whitebal;
      sensor->get_rgb_gain_db     = get_rgb_gain_db;
      sensor->set_hmirror         = set_hmirror;
      sensor->set_vflip           = set_vflip;
      sensor->set_special_effect  = set_special_effect;
      sensor->set_lens_correction = set_lens_correction;
      sensor->ioctl               = ioctl;
  
      // Set sensor flags
      SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_VSYNC, 1);
      SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_HSYNC, 0);
      SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_PIXCK, 1);
      SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_FSYNC, 0);
      SENSOR_HW_FLAGS_SET(sensor, SENSOR_HW_FLAGS_JPEGE, 1);
      SENSOR_HW_FLAGS_SET(sensor, SWNSOR_HW_FLAGS_RGB565_REV, 0);
  
      return 0;
  }
  #endif // (OMV_ENABLE_OV5640 == 1)
  